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Modifiable Walking Pattern Generator on Unknown Uneven Terrain 3rd

引用

3rd international conference on robot intelligence technology and applications

作者： Kim, Young-Min Kim, Jong-Hwan Korea Adv Inst Sci & Technol Dept Robot Program 335 Gwahangno Daejeon South Korea

ISBN: (纸本)9783319168418;9783319168401

This paper proposes a novel algorithm for humanoid robots to walk on unknown uneven terrain by using the Modifiable Walking Pattern Generator (MWPG). The proposed algorithm runs with a finite state machine including ascending and descending states. If the landing time of a swinging leg on unknown uneven terrain is shorter than the assigned single support time, the state is switched to the ascending state. If longer, the state is switched to the descending state. When a swinging leg lands on a surface of unknown uneven terrain, robot receives an impulsive contact force. The average impulsive contact force is reduced by expanding the duration of the contact time with respect to the impulse-momentum equation. According to the change of the step length due to unknown uneven terrain, the newly calculated center of mass (CoM) trajectory in the double support phase after landing the swinging leg is used. The proposed algorithm is used with the modified foot trajectory for adapting to the height of the uneven terrain. The effectiveness of the proposed algorithm is demonstrated through computer simulations using the simulation model of the small-sized humanoid robot, HanSaRam-IX (HSR-IX).

关键词： Humanoid robot uneven terrains modifiable walking pattern generator (MWPG) 3-D linear inverted pendulum model (LIPM)

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Evolving Honeycomb Pneumatic Finger in Bullet Physics Engine 3rd

引用

3rd international conference on robot intelligence technology and applications

作者： Cheng, Bin Sun, Hao Chen, Xiaoping Univ Sci & Technol China Dept Comp Sci Hefei 230027 Anhui Peoples R China

ISBN: (纸本)9783319168418;9783319168401

Soft robot is becoming a current focus for its inherently compliance and human-friendly interacting with the real world. But most soft robots are designed and fabricated with intuition and empiricism only, which lack of systematic assessment such as force and deformable analysis before fabricating. Before choosing proper soft materials and processing the craft, the experiments of the soft robots can hardly be set up. In this paper, we construct a model of Honeycomb Pneumatic Finger (HPF) with honeycomb pneumatic network embedded which overcomes the shortcoming of embedded rectangular unit. In the meantime, a pressure analysis model is built for the purpose of physical simulation. Based on the model, without choosing any real materials and fabricating, we focus on exploring the correlations between the pressure and the geometrical shapes in physics simulation. Furthermore, we construct a virtual hand consisting of one rigid palm and four HPFs which is simulated with Bullet Physics Engine. By changing the pressure of the corresponding honeycomb units of each finger, the hand can grasp a ball smoothly and lift it up. At last, the deviation between the mathematical analysis and the physical simulation is discussed.

关键词： Soft robot Pneumatic finger Honeycomb structure Bullet

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Research of a Self-adaptive robot Impedance Control Method for robot-Environment Interaction 3rd

引用

3rd international conference on robot intelligence technology and applications

作者： Li, Zhengyi Yang, Dandan Zhou, Hui Cao, Huimin South Cent Univ Nationalities Coll Biomed Engn Wuhan Peoples R China South Cent Univ Nationalities Key Lab Cognit Sci State Ethn Affairs Commiss Wuhan Peoples R China

ISBN: (纸本)9783319168418;9783319168401

The robot impedance control performance decreases with unknown or changing environmental stiffness and damping parameters, in order to resolve this problem, this paper designs a self-adaptive robot impedance control method, which is characterized by integration of off-line learning and on-line adjustment to afford the stiffness and damping of the robot control system's impedance model competent for unknown or changing environment. For the off-line learning, defining the robot impedance control performance criterion, and establishing the geometric representation of the varying stiffness parameter, we derive the initial values of stiffness for the impedance model. Further, a neural network is designed to estimate the environmental effective stiffness, and combined with critical damping condition of the second-order robot-environment interaction system, we solves the initial value of damping for the impedance model. During the on-line adjustment, a rule self-tuned fuzzy controller is dedicated to adjust the stiffness and damping of the impedance model based on robot real-time contact force and position feedback. At last, experiments demonstrate the excellent stability and accuracy for the robot-environment contact force tracking control.

关键词： robot force control self-adaptive impedance control parameters estimation rule self-tuned fuzzy control

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Cambricon: An Instruction Set Architecture for Neural Networks 16

Cambricon: An Instruction Set Architecture for Neural Networ...

引用

43rd ACM/IEEE Annual international Symposium on Computer Architecture (ISCA)

作者： Liu, Shaoli Du, Zidong Tao, Jinhua Han, Dong Luo, Tao Xie, Yuan Chent, Yunji Chent, Tianshi Chinese Acad Sci ICT State Key Lab Comp Architecture Beijing Peoples R China UCSB Dept Elect & Comp Engn Santa Barbara CA USA Chinese Acad Sci Ctr Excellence Brain Sci & Intelligence Technol Beijing Peoples R China Cambricon Ltd Beijing Peoples R China

ISBN: (纸本)9781467389471

Neural Networks (NN) are a family of models for a broad range of emerging machine learning and pattern recondition applications. NN techniques are conventionally executed on general-purpose processors (such as CPU and GPGPU), which are usually not energy-efficient since they invest excessive hardware resources to flexibly support various workloads. Consequently, application-specific hardware accelerators for neural networks have been proposed recently to improve the energy-efficiency. However, such accelerators were designed for a small set of NN techniques sharing similar computational patterns, and they adopt complex and informative instructions (control signals) directly corresponding to high-level functional blocks of an NN (such as layers), or even an NN as a whole. Although straightforward and easy-to-implement for a limited set of similar NN techniques, the lack of agility in the instruction set prevents such accelerator designs from supporting a variety of different NN techniques with sufficient flexibility and efficiency. In this paper, we propose a novel domain-specific Instruction Set Architecture (ISA) for NN accelerators, called Cambricon, which is a load-store architecture that integrates scalar, vector, matrix, logical, data transfer, and control instructions, based on a comprehensive analysis of existing NN techniques. Our evaluation over a total of ten representative yet distinct NN techniques have demonstrated that Cambricon exhibits strong descriptive capacity over a broad range of NN techniques, and provides higher code density than general-purpose ISAs such as x86, MIPS, and GPGPU. Compared to the latest state-of-the-art NN accelerator design DaDianNao [5] (which can only accommodate 3 types of NN techniques), our Cambricon-based accelerator prototype implemented in TSMC 65nm technology incurs only negligible latency/power/area overheads, with a versatile coverage of 10 different NN benchmarks.

关键词： Artificial neural networks Registers System-on-chip Computer architecture Data transfer Ground penetrating radar Libraries data transmission system-on-chip Computer Architecture ground penetrating radar Registers Neural network Artificial neural networks Instruction set architecture Libraries instruction sets Accelerators code density

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Unified Minimalistic Modeling of Piezoelectric Stack Actuators for Engineering applications 3rd

引用

3rd international conference on robot intelligence technology and applications

作者： Jain, Ajinkya Datta, Rituparna Bhattacharya, Bishakh Indian Inst Technol Dept Mech Engn Smart Mat Struct & Syst Lab Kanpur 208016 Uttar Pradesh India Korea Adv Inst Sci & Technol Dept Elect Engn Daejeon 305701 South Korea

ISBN: (纸本)9783319168418;9783319168401

Piezoelectric (PZ) actuator is widely recognized for its high precision and displacement accuracy even at nanometer ranges. A minimalistic model is proposed in the present work, for PZ stack actuators. In the proposed model, various stack assembly arrangements have been assumed. Separate series and parallel assembly arrangements are suggested for both mechanical and electrical parts of the PZ actuators. The linearized constitutive equations formulated by IEEE, is considered to take into account the electromechanical coupling of the PZ actuator. In the proposed model, stiffness of the connectors in stack assembly have also been taken into account and is modeled as connector spring. To include the effects of connector spring, the relationships of force and voltage with actuator displacement is replaced by the relations between force and voltage with the displacement of point of actuation at the physical system. This leads to a more realistic model of PZ actuator to be used in applications requiring actuator to be modeled as a black-box. With the advent of technology, more and more complex and compact actuating system are emerging into existence. Engineering applications, such as in the field of robotics, that require a black-box modeling of actuators, need simplistic models of the actuators to decrease the computational complexity. The proposed model, being a minimalistic one, qualifies as an ideal candidate for such applications.

关键词： Piezoelectric (PZ) actuator Minimalistic model Series and parallel modeling Smart System

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Improvement of Dust Detection System Using Infra-red Sensors 3rd

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3rd international conference on robot intelligence technology and applications

作者： Kim, Donghoe Jo, Wonse Lee, Bumjoo An, Jinung Kim, Donghan Kyung Hee Univ Dept Elect & Radio Engn Yongin 446701 South Korea Myongji Univ Dept Elect Engn Yongin South Korea DGIST Pragmat Appl Robot Inst Daegu 771873 South Korea

ISBN: (纸本)9783319168418;9783319168401

This paper proposes a sensor, which is capable of determining the type of dust through the dust detection sensor system that uses infrared sensor. Recently, cleaning robot is highly favored in the service robot market, which has been lead to development in various fields. Researches including navigation, localization, and developing the key components are underway to improve the performance, where the researches related to sensor are actively progressed accordingly. The dust detection device is developed to improve the performance of cleaning robot by determining the type of dust. The developed dust detection device is consists up of 1 transmitter and 24 receivers. The amount of transmitted and reflected light emanated from light sensor varies according to the characteristics of various types of dust, which passes through the middle of the dust detection device. The changes in the amount of light from 24 receivers are collected as the experiment data using the test bed of proposed dust detection device. Lastly, this paper confirms determining the type of dust by analyzing the pattern using the pixel-based dust similarity method.

关键词： Dust

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Peak Detection with Pile-Up Rejection Using Multiple-Template Cross-Correlation for MWD (Measurement While Drilling) 3rd

引用

3rd international conference on robot intelligence technology and applications

作者： Lee, Sangwon Park, Byeolteo Kim, Youngjai Myung, Hyun Korea Adv Inst Sci & Technol Robot Program Daejeon 305701 South Korea Korea Adv Inst Sci & Technol Dept Civil & Environm Engn Daejeon 305701 South Korea

ISBN: (纸本)9783319168418;9783319168401

In this paper, we propose a novel pile-up rejection algorithm using multiple-template for MWD (Measurement While Drilling) which is very useful in underground localization of drilling devices. Conventional peak detection algorithms that are based on cross-correlation use only a template signal in the peak detection. However, if two peak pulses pile-up too closely, the conventional methods will recognize them as a single peak pulse. If the pile-up signals are recognized as a single peak signal, the false peak information will be given. To solve this problem, we additionally use a template signal that consists of two overlapping peak pulses to detect peak pulses that pile-up closely. We confirmed our algorithm by using actual output data from amplifier connected to a scintillator.

关键词： Peak detection Pile-up Cross-correlation

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Wave-Based Tracking Control of a Flexible Arm Using Lumped Model 3rd

引用

3rd international conference on robot intelligence technology and applications

作者： Yang, Tangwen Han, Jianda Qin, Yong Beijing Jiaotong Univ Inst Informat Sci Beijing Peoples R China Chinese Acad Sci Shenyang Inst Automat State Key Lab Robot Shenyang Peoples R China Beijing Jiaotong Univ State Key Lab Rail Traff Control & Safety Beijing Peoples R China

ISBN: (纸本)9783319168418;9783319168401

A wave control is presented to suppress vibration at the distal end of a flexible robotic arm while achieving accurate tracking control. It assumes the arm with an actuator at one end and a load at the other, and interprets the arm's dynamics with a lumped model in terms of mechanical waves entering and leaving the arm at the actuator-arm interface. Control input to the actuator is then resolved into two superposed waves, which the actuator launches and absorbs simultaneously. From the motion start-up, the launch wave is assigned to the actuator, to which the absorbing wave is added. The absorbing wave is computed with the delayed tip motion. It absorbs the vibratory energy within the arm, and prevents the wave returning from the arm tip from entering the control system again. The control system's properties are investigated, and it works pretty well for trajectory tracking control, as demonstrated in the numerical results.

关键词： Flexible robotic arm lumped model tracking control wave absorption

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Arm Trajectory Generation Based on RRT* for Humanoid robot 3rd

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3rd international conference on robot intelligence technology and applications

作者： Lee, Seung-Jae Baek, Seung-Hwan Kim, Jong-Hwan Korea Adv Inst Sci & Technol Dept Elect Engn 335 Gwahangno Daejeon 305701 South Korea

ISBN: (纸本)9783319168418;9783319168401

In this paper, an arm trajectory generation method based on the Rapidly-Exploring Random Tree Star (RRT*) is proposed for humanoid robot. The RRT* is one of anytime motion planning algorithms. The RRT* adopts the three fundamental components from the RRT, the preceding version of RRT*: the state variables, local planner, and cost function. The end effector of humanoid robot is positioned on the desired point by manipulating the joint angles of the arm, which are the state variables. The Minimum-jerk method is applied as a local planner for more realistic trajectory and the local planner fulfills collision detection test. The cost taken to transit between two points is defined as the sum of angle differences of motor corresponding to the two points. Also, there has been the need for real time control and it is taken care of by introducing a multi-thread system. The arm under control initiates motioning, once the first trajectory that meets the target zone is constructed. While the arm is on the move, the RRT* continuously updates the trajectory. The effectiveness of the proposed method is demonstrated by simulating the 7 DOF robot arm, which has been performed under two environments: the obstacle-free and obstacle-constrained cases. Simulation is carried out for the humanoid robot, Mybot-KSR, developed in the RIT Lab., KAIST.

关键词： Anthropomorphic robots

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Educating Creative technology for the Internet of Things - Research and Practice-oriented Approaches Compared 15

Educating Creative Technology for the Internet of Things - R...

引用

3rd international conference on Multimedia, Interaction, Design and Innovation (MIDI)

作者： de Haan, Geert Wittenborg Univ Appl Sci Apeldoorn Netherlands

ISBN: (纸本)9781450336017

Develop This (DevThis) is a research and development module in the Media technology Bachelor which tries to teach third year students to do scientific research and introduce them to the technological, design and scientific developments in the area of Ubiquitous Computing and the Internet of Things (IoT), such as context sensitivity, location-based services, co-design, and the use of emergent design practices. Ambient en Pervasive Design (AmbiPerv) is a second-year course following a practice-oriented vision on Human-Centered Creative technology to educating Internet of Things techniques. In AmbiPerv, students learn to work with sensors and effectors in IoT applications. The paper evaluates the research versus the practice-oriented approach to educating Creative technology for the Internet of Things and compares the results in terms of research opportunities, student motivation and effort versus outcomes to make recommendation about how to teach Creative technology for the Internet of Things.

关键词： Education ubiquitous computing ambient intelligence pervasive computing sensory applications embedded design curriculum development teaching methods

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